Methods and systems for tracking and guiding sensors and instruments

摘要

A shared-housing ultrasound transducer and machine-vision camera system is disclosed for registering the transducer's x, y, z position in space and pitch, yaw, and roll orientation with respect to an object, such as a patient's body. The position and orientation are correlated with transducer scan data, and scans of the same region of the object are compared in order to reduce ultrasound artifacts and speckles. The system can be extended to interoperative gamma probes or other non-contact sensor probes and medical instruments. Methods are disclosed for computer or remote guiding of a sensor probe or instrument with respect to saved positions and orientations of the sensor probe.

主权项

1. A spatial registration apparatus, comprising:
a medical instrument or sensor probe; a camera rigidly connected with the medical instrument or sensor probe; a fiducial marker affixed to an object of interest, the object of interest being different from the medical instrument or sensor probe and different from the camera; at least one first processor operatively coupled with a first memory, the first memory having first instructions for execution by the at least one first processor, wherein the first memory stores a relative location and orientation between the medical instrument or sensor probe and the rigidly connected camera, wherein the first instructions, when executed by the at least one first processor, cause the at least one first processor to determine a pose of the camera with respect to the fiducial marker using an image of the fiducial marker captured by the camera and then transform the pose, using the stored relative location and orientation between the medical instrument or sensor probe and the rigidly connected camera, to determine a first spatial position and orientation of the medical instrument or sensor probe with respect to the fiducial marker, the at least one first processor associating a first scan of the object of interest from the medical instrument or sensor probe with the first spatial position and orientation of the medical instrument or sensor probe to create a first spatially registered scan, the first scan being time synchronized with the first spatial position and orientation of the medical instrument or sensor probe; a network; and at least one second processor operatively coupled with a second memory, the second memory having second instructions for execution by the at least one second processor, the second instructions, when executed by the at least one second processor, cause the at least one second processor to derive visualization data from the first spatially registered scan from the medical instrument or sensor probe using the first spatial position and orientation of the medical instrument or sensor probe with respect to the fiducial marker, and display the visualization data, on a first display, to a first user.